Method for Using Exteroceptive Sensor Data Based on Vehicle State or Mission State

Abstract

An autonomous vehicle is disclosed. The autonomous vehicle may include a sensor array; an engine output control system; a braking control system; and a controller. The controller may be communicatively coupled with the sensor array, the engine output control system, and the braking control system. The controller may be configured to: sense an environment with the sensor array to produce sensor data; receiving autonomous vehicle state data; determining whether the autonomous vehicle state data is above a threshold state value; in the event the autonomous vehicle state data is above a threshold state value, not using the sensor data to operate the autonomous vehicle; and in the event the autonomous vehicle state data is not above a threshold state value, using the sensor data to operate the autonomous vehicle.

That which is claimed: 
     
         1 . A method executing on an autonomous vehicle, the method comprising:
 sensing an environment with a sensor attached with an autonomous vehicle to produce sensor data;   receiving autonomous vehicle state data;   determining whether the autonomous vehicle state data is above a threshold state value;   in the event the autonomous vehicle state data is above a threshold state value, operating the autonomous vehicle using the sensor data in a first mode; and   in the event the autonomous vehicle state data is not above the threshold state value, operating the autonomous vehicle in a second mode, wherein the second mode is different than the first mode.   
     
     
         2 . The method according to  claim 1 , wherein the threshold state value comprises a speed value of 2 m/s. 
     
     
         3 . The method according to  claim 2 , wherein:
 the sensor data comprises lidar sensor data;   the autonomous vehicle state data comprises speed data; and   the threshold state value comprises a speed value.   
     
     
         4 . The method according to  claim 2 , wherein:
 the sensor data comprises ultrasonic sensor data;   the autonomous vehicle state data comprises speed data; and   the threshold state value comprises a speed value.   
     
     
         5 . The method according to  claim 2 , wherein:
 the sensor data comprises lidar sensor data;   the autonomous vehicle state data comprises an implement state; and   the threshold state value comprises an implement position.   
     
     
         6 . The method according to  claim 1 , wherein the sensor data comprises data from one or more of infrared sensors, ultrasonic sensor, magnetic sensors, radar sensors, Lidar sensors, terahertz sensors, sonar sensors, and cameras. 
     
     
         7 . The method according to  claim 1 , wherein the state data comprises one or more of autonomous vehicle speed data, autonomous vehicle velocity data, autonomous vehicle location data, autonomous vehicle direction data, map data, implement activity data, weather data, and dust conditions. 
     
     
         8 . An autonomous vehicle comprising:
 a sensor array;   an engine output control system;   a braking control system; and   a controller communicatively coupled with the sensor array, the engine output control system, and the braking control system, the controller configured to:
 sense an environment with the sensor array to produce sensor data; 
 receiving autonomous vehicle state data; 
 determining whether the autonomous vehicle state data is above a threshold state value; 
 in the event the autonomous vehicle state data is above a threshold state value, not operating the autonomous vehicle using the sensor data to; and 
 in the event the autonomous vehicle state data is not above a threshold state value, operating the autonomous vehicle with the sensor data. 
   
     
     
         9 . The method according to  claim 8 , wherein the threshold state value comprises a speed value of 2 m/s. 
     
     
         10 . The autonomous vehicle according to  claim 8 , wherein:
 the sensor array comprises a lidar sensor;   the sensor data comprises lidar sensor data;   the autonomous vehicle state data comprises speed data; and   the threshold state value comprises a speed value.   
     
     
         11 . The autonomous vehicle according to  claim 8 , wherein:
 the sensor array comprises an ultrasonic sensor;   the sensor data comprises ultrasonic sensor data;   the autonomous vehicle state data comprises speed data; and   the threshold state value comprises a speed.   
     
     
         12 . The autonomous vehicle according to  claim 8 , further comprising a moveable implement; wherein:
 the sensor array comprises a lidar sensor;   the sensor data comprises lidar sensor data;   the autonomous vehicle state data comprises an implement state of the implement; and   the threshold state value comprises an implement position.   
     
     
         13 . The autonomous vehicle according to  claim 8 , wherein the sensor data comprises data from one or more of infrared sensors, ultrasonic sensor, magnetic sensors, radar sensors, Lidar sensors, terahertz sensors, sonar sensors, and cameras. 
     
     
         14 . The autonomous vehicle according to  claim 8 , wherein the state data comprises one or more of autonomous vehicle speed data, autonomous vehicle velocity data, autonomous vehicle location data, autonomous vehicle direction data, map data, implement activity data, weather data, and dust conditions. 
     
     
         15 . A method executing on an autonomous vehicle, the method comprising:
 sensing an environment with a sensor attached with an autonomous vehicle to produce sensor data;   receiving autonomous vehicle state data;   determining whether the autonomous vehicle state data is above a threshold state value;   in the event the autonomous vehicle state data is above a threshold state value, not operating the autonomous vehicle with the sensor data; and   in the event the autonomous vehicle state data is not above a threshold state value, operating the autonomous vehicle with the sensor data.   
     
     
         16 . A method executing on an autonomous vehicle, the method comprising:
 sensing an environment with a first sensor attached with an autonomous vehicle to produce first sensor data;   sensing the environment with a second sensor attached with an autonomous vehicle to produce second sensor data;   receiving autonomous vehicle state data;   determining whether the autonomous vehicle state data is above a threshold state value;   in the event the autonomous vehicle state data is above a threshold state value, operating the autonomous vehicle using the first sensor data; and   in the event the autonomous vehicle state data is not above a threshold state value, operating the autonomous vehicle using the second sensor data.   
     
     
         17 . A method executing on an autonomous vehicle, the method comprising:
 sensing an environment with a sensor attached with an autonomous vehicle to produce sensor data;   sensing the environment with a lidar sensor attached with an autonomous vehicle to produce lidar data;   receiving speed data from the autonomous vehicle;   determining whether the speed is above a threshold state value;   in the event the speed is above the threshold state value, detecting obstacles in the obstacles in the environment using the sensor data; and   in the event the speed is below the threshold state value, detecting obstacles in the environment using the lidar data.   
     
     
         18 . The method according to  claim 17 , wherein the threshold state value comprises a speed value less than 2 m/s. 
     
     
         19 . The method according to  claim 17 , wherein the sensor data comprises data from one or more of infrared sensors, ultrasonic sensor, magnetic sensors, radar sensors, Lidar sensors, terahertz sensors, sonar sensors, and cameras.